A tissue culture seedling racking robot with lifting and rotating functions

Abstract

The present invention relates to the field of plant cultivation. Its purpose is to provide a tissue culture seedling loading robot with lifting and rotating functions. This robot should be able to load entire baskets of tissue culture seedlings onto shelves in layers, while saving manpower, reducing costs, achieving high efficiency, and providing a high safety factor. The technical solution is: a tissue culture seedling loading robot with lifting and rotating functions, characterized by a walking platform equipped with a grabbing mechanism for grabbing tissue culture baskets, a steering mechanism for pushing the grabbing mechanism to one side of the walking platform, and a lifting mechanism for driving the grabbing mechanism in vertical motion.

Description

Technical Field

[0001] The present invention relates to the field of plant cultivation, in particular to a tissue culture seedling shelving robot with lifting and rotating functions. Background Art

[0002] As the foundation of modern bioengineering, tissue culture technology is one of the most important and active fields in agricultural high-tech. Currently, tissue culture is widely used in the mass reproduction of seedlings, flowers, vegetables and other plants. It has entered the stage of large-scale production and application worldwide, and domestic funding for tissue culture technology has also continued to increase.

[0003] Tissue culture baskets are essential containers for tissue culture, used for soilless plant cultivation. In practice, plants need to be moved to different locations during various stages of seedling development, growth, and reproduction. Currently, this process relies primarily on manual labor to layer entire baskets of tissue culture seedlings onto tissue culture racks. Due to the height of these racks, manual placement poses safety risks, and labor costs are an increasing factor in tissue culture seedling research, weakening their market competitiveness. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a tissue culture seedling shelving robot with lifting and rotating functions. The robot should be able to realize layered shelving of entire baskets of tissue culture seedlings and has the characteristics of saving manpower, reducing costs, high efficiency and high safety factor.

[0005] The technical solution of the present invention is:

[0006] A tissue culture seedling loading robot with lifting and rotating functions includes a walking platform for loading tissue culture baskets; the characteristics are: the walking platform is provided with a grabbing hook mechanism for grabbing the tissue culture baskets, a steering mechanism for pushing the grabbing hook mechanism to one side of the walking platform, and a lifting mechanism for driving the grabbing hook mechanism to move vertically.

[0007] The lifting mechanism includes a lifting frame, a lifting motor fixed to the lifting frame, a lifting platform vertically slidably positioned on the lifting frame, and a lifting transmission assembly for transmitting power from the lifting motor to drive the lifting platform to move vertically.

[0008] The steering mechanism comprises a steering platform which is swingably positioned on the lifting platform, and a steering electric push rod with two ends rotatably hinged between the lifting platform and the steering platform.

[0009] The grab hook mechanism comprises a grab hook electric push rod arranged at both ends of the steering platform and a grab hook driven by the grab hook electric push rod.

[0010] The lifting transmission assembly includes a screw rod rotatably positioned on the lifting frame, a driving pulley fixed to the lifting motor shaft, a passive pulley fixed to the screw rod, a synchronous belt connecting the driving pulley and the passive pulley, and a lifting nut meshed with the screw rod and fixed to the lifting platform.

[0011] The lifting frame is provided with a vertically arranged lifting slide rail and a lifting slider that can slide vertically along the lifting slide rail, and the lifting platform is fixed to the lifting slider.

[0012] The grab hook can be positioned horizontally at both ends of the grab hook supporting plate through a grab hook slider. The grab hook supporting plate is fixed to the bottom of the steering platform through a right-angle fixing seat. Both ends of the grab hook supporting plate are provided with sliding grooves for guiding the horizontal sliding of the grab hook slider.

[0013] The grab hook comprises a sleeve fixed to the grab hook slider, a lifting rod axially slidably positioned in the sleeve, a gear rack assembly driving the lifting rod to move vertically, and a hook fixed at the bottom end of the lifting rod.

[0014] The walking platform is a trolley.

[0015] The beneficial effects of the present invention are:

[0016] The present invention is used for shelving whole baskets of tissue culture seedlings in a tissue culture seedling factory, and is adaptable to walking in a narrow space and can safely and stably place the whole basket of tissue culture seedlings in the tissue culture rack. The grabbing hook mechanism is used for grabbing the tissue culture basket, the lifting mechanism is used for adjusting the height of the grabbing hook mechanism and the tissue culture basket, and the steering mechanism is used for pushing the tissue culture basket on the walking platform into the tissue culture rack, thereby realizing the automatic rotation, transportation and shelving of the whole basket of tissue culture seedlings, improving the safety factor of operation, improving work efficiency and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of an embodiment of the present invention.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention.

[0019] Figure 3 It is a main structural schematic diagram of the present invention.

[0020] Figure 4 It is one of the three-dimensional structural schematic diagrams of the lifting mechanism of the present invention.

[0021] Figure 5 This is the second schematic diagram of the three-dimensional structure of the lifting mechanism of the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the pulley transmission assembly of the present invention.

[0023] Figure 7It is a three-dimensional structural diagram of the lifting mechanism, steering mechanism and grab hook mechanism of the present invention.

[0024] Figure 8 This is one of the three-dimensional structural diagrams of the steering mechanism of the present invention (the steering electric push rod is not extended).

[0025] Figure 9 This is the second schematic diagram of the three-dimensional structure of the steering mechanism of the present invention (the steering electric push rod is extended).

[0026] Figure 10 It is a three-dimensional structural diagram of the grab hook mechanism of the present invention.

[0027] Figure 11 It is a schematic diagram of the three-dimensional structure of the grappling hook of the present invention.

[0028] Figure 12 It is a schematic diagram of the cross-sectional structure of the grappling hook of the present invention.

[0029] Numbers in the figure:

[0030] Walking platform 01, car plate 0101, handle 0102, anti-dumping baffle 0103, lifting mechanism 02, lifting frame 0201, mounting plate 0202, lifting slider 0203, screw 0204, screw fixing seat 0205, passive pulley 0206, active pulley 0207, synchronous belt 0208, lifting motor 0210, lifting slide rail 0212, steering mechanism 03, lifting platform 0301, steering platform Platform 0302, grab hook support plate 0303, right-angle fixing seat 0304, steering electric push rod 0306, first hinge 0307, ​​grab hook electric push rod 0308, grab hook slider 0309, second hinge 0310, slide 0311, grab hook mechanism 04, sleeve 0401, lifting rod 0402, curved hook 0403, grab hook rack 0404, grab hook gear 0405, tissue culture basket 05, tissue culture rack 06, tissue culture seedling 07. DETAILED DESCRIPTION

[0031] The accompanying drawings show preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0032] like Figure 1 As shown, a tissue culture seedling racking robot with lifting and rotating functions includes a walking platform 01, a grabbing hook mechanism 04, a steering mechanism 03, and a lifting mechanism 02.

[0033] The walking platform is a prior art. The walking platform adopts a trolley, including a wheeled platform 0101, a handle 0102 provided on one side of the platform, and an anti-dumping baffle 0103 provided on the other side of the platform. The walking platform is used to load tissue culture baskets, which are stacked layer by layer on the platform ( Figures 1 to 3 Showing a total of 10 layers of tissue culture seedlings stacked) and located between the handle and the anti-dumping baffle, Figure 3 For the back of the robot, Figure 3 The horizontal direction is the length direction of the tissue culture basket. The tissue culture basket needs to be rotated 90 degrees before it can be placed in the tissue culture rack. The tissue culture basket is placed parallel to the layer plate of the tissue culture rack to save space.

[0034] The grab hook mechanism is used to grab the tissue culture basket 05, the steering mechanism is used to swing the grab hook mechanism to one side of the walking platform (the tissue culture basket is moved into the tissue culture rack while rotating 90 degrees), and the lifting mechanism is used to drive the grab hook mechanism to move vertically to adjust the height of the tissue culture basket (corresponding to the height of the layer of the tissue culture rack 06).

[0035] The lifting mechanism includes a lifting frame 0201, a lifting motor 0210, a lifting platform 0301, and a lifting transmission assembly. The lifting frame is fixed to the vehicle deck of the walking platform (near the handle), the lifting platform can be vertically slidably positioned on the lifting frame, the lifting motor is fixed to the lifting frame, and the lifting transmission assembly is used to transmit the lifting motor power to drive the lifting platform to move vertically.

[0036] A mounting plate 0202 is provided on the top of the lifting frame, and the lifting motor is fixed to the mounting plate. The lifting frame is also provided with a vertically arranged lifting rail 0212, and the lifting slider 0203 can slide vertically along the lifting rail. The lifting platform is fixed to the lifting slider.

[0037] The lifting transmission assembly includes a pulley transmission assembly and a screw transmission assembly. The screw transmission assembly includes a screw 0204 and a nut (omitted in the figure). The screw is rotatably positioned on the lifting frame through a screw fixing seat 0205, and the nut is engaged with the screw. The pulley transmission assembly includes a driving pulley 0207, a passive pulley 0206 and a synchronous belt 0208. The driving pulley and the passive pulley are rotatably positioned on the mounting plate. The driving pulley is fixed to the lifting motor shaft, the passive pulley is fixed to the screw, and the synchronous belt connects the driving pulley and the passive pulley. The lifting platform is fixed to the lifting slider and the nut at the same time. The rotation axis of the screw and the axis of the lifting motor shaft are both arranged vertically.

[0038] The steering mechanism includes a steering platform 0302 and a steering push rod 0306. The steering platform is rotatably hinged on the lifting platform through a first hinge 0307, ​​and the two ends of the steering push rod are rotatably hinged between the lifting platform and the steering platform through a second hinge 0310. Figure 2and Figure 8 As shown in the figure, when the steering push rod is not extended, the steering platform is located directly above the vehicle body of the walking platform. Figure 9 As shown in the figure, when the steering electric push rod is extended, the steering platform is pushed to one side (towards Figure 1 The steering platform moves the grabbed tissue culture frame from the walking platform to the tissue culture frame and rotates it 90 degrees at the same time.

[0039] The grab hook mechanism includes a grab hook support plate 0303, a grab hook electric push rod 0308, and a grab hook. The grab hook support plate is fixed to the bottom of the steering platform through a right-angle fixing seat 0304. The two ends of the grab hook support plate ( Figure 3 On both sides of the left and right sides are provided with a grab hook electric push rod 0308, a grab hook, a slide 0311, and a grab hook slider 0309. The grab hook electric push rod is fixed to the grab hook support plate, the slide extends horizontally, the grab hook slider can be horizontally slidably positioned in the slide, and the grab hook is fixed to the telescopic rod of the grab hook electric push rod through the grab hook slider.

[0040] The grab hook includes a sleeve 0401 fixed to the grab hook slider and arranged vertically, a lifting rod 0402 positioned axially and slidably in the sleeve, a gear rack assembly that drives the lifting rod's vertical movement, and a hook 0403 fixed to the bottom end of the lifting rod. The gear rack assembly includes a grab hook rack 0404 fixed to the lifting rod, a grab hook gear 0405 meshing with the grab hook rack, and a grab hook motor (omitted in the figure) that drives the grab hook gear. The grab hook electric push rod is used to push the two grab hooks together or apart simultaneously. After the grab hooks are brought together, the gear rack assembly lifts the hooks to grab the tissue culture basket. The reverse operation releases the tissue culture basket.

[0041] All components of the present invention are prior art. The present invention also includes a controller, which is electrically connected to the lifting motor, the steering push rod, the grab hook push rod, and the grab hook motor.

[0042] The working principle of the present invention is:

[0043] 1. If Figure 2 As shown, the tissue culture basket 05 containing the tissue culture seedlings 07 is stacked on the walking platform;

[0044] 2. If Figure 1 As shown, push the walking platform in front of the tissue culture rack, with the front of the robot facing the tissue culture rack;

[0045] 3. The lifting mechanism adjusts the height of the grabbing hook mechanism, and the grabbing hooks on both sides of the grabbing hook mechanism move closer to the tissue culture basket in the middle, and then the rack and pinion assembly starts to raise the grabbing hook to hook the tissue culture basket;

[0046] 4. The lifting mechanism lifts the tissue culture basket to a certain height (the corresponding layer on the upper part of the tissue culture rack), the steering mechanism starts to rotate the tissue culture basket to the layer of the tissue culture rack, and the gear rack assembly starts to lower the grabber to release the tissue culture basket;

[0047] 5. The grab hook mechanism, steering mechanism and lifting mechanism are reset.

[0048] The present invention can carry the tissue culture basket to the upper layer of the tissue culture rack, thereby improving the safety factor, increasing the work efficiency and reducing the cost. The tissue culture basket is directly carried manually on the lower layer of the tissue culture rack, without the need for the present invention.

[0049] Finally, it should be noted that the above examples are merely specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples and is subject to numerous variations. All variations that can be directly derived or conceived by a person of ordinary skill in the art from the disclosure of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A tissue culture seedling racking robot with lifting and rotating functions, comprising a walking platform (01) for loading tissue culture baskets; characterized in that: The walking platform is provided with a grabbing hook mechanism (04) for grabbing the tissue culture basket, a lifting mechanism (02) for driving the grabbing hook mechanism to move vertically, and a steering mechanism (03) for pushing the grabbing hook mechanism to one side of the walking platform; the lifting mechanism includes a lifting platform (0301) that can be lifted vertically, and the grabbing hook mechanism is installed on the lifting platform; the steering mechanism includes a steering platform (0302) that can swing relative to the lifting platform and a steering electric push rod (0306) with both ends respectively hinged between the lifting platform and the steering platform; the grabbing hook mechanism includes at least two grabbing hooks arranged opposite to each other, which can move toward or away from each other in the horizontal direction to hook and clamp the tissue culture basket, and the grabbing hooks can move vertically to lift the tissue culture basket.

2. The tissue culture seedling loading robot with lifting and rotating functions according to claim 1, characterized in that: The lifting mechanism comprises a lifting frame (0201) fixed on the walking platform (01), a lifting motor (0210) fixed to the lifting frame, a lifting platform (0301) positioned on the lifting frame in a vertically slidable manner, and a lifting transmission assembly for transmitting power from the lifting motor to drive the lifting platform to move vertically.

3. The tissue culture seedling racking robot with lifting and rotating functions according to claim 2, characterized in that: The steering mechanism comprises a steering platform (0302) swingably positioned on the lifting platform, and a steering electric push rod (0306) with both ends rotatably hinged between the lifting platform and the steering platform.

4. The tissue culture seedling loading robot with lifting and rotating functions according to claim 3, characterized in that: The grab hook mechanism includes a grab hook support plate (0303) fixed to the bottom of the steering platform (0302), and each end of the grab hook support plate is provided with a slide groove (0311) extending in the horizontal direction. The grab hook slider (0309) can be horizontally slidably arranged in the slide groove. Each of the grab hook sliders (0309) is fixedly connected to a grab hook, and the grab hook slider is driven by a grab hook electric push rod (0308) to move along the slide groove, thereby driving the grab hook to move toward or away from each other.

5. The tissue culture seedling loading robot with lifting and rotating functions according to claim 4, characterized in that: The grab hook mechanism comprises a grab hook electric push rod (0308) arranged at both ends of the steering platform and a grab hook driven by the grab hook electric push rod.

6. The tissue culture seedling racking robot with lifting and rotating functions according to claim 5, characterized in that: The grab hook can be positioned horizontally and slidably at both ends of the grab hook support plate (0303) through a grab hook slider (0309). The grab hook support plate is fixed to the bottom of the steering platform through a right-angle fixing seat (0304). Both ends of the grab hook support plate are provided with a sliding groove (0311) for guiding the horizontal sliding of the grab hook slider.

7. The tissue culture seedling racking robot with lifting and rotating functions according to claim 6, characterized in that: The grab hook includes a sleeve (0401) fixed to a grab hook slider (0309), a lifting rod (0402) vertically slidable in the sleeve (0401), a rack (0404) fixedly connected to the lifting rod, and a gear (0405) meshing with the rack (0404). A curved hook (0403) is fixedly connected to the bottom end of the lifting rod (0402), and the gear drives the rack to rise and fall, thereby causing the lifting rod (0402) and the curved hook (0403) to move up and down.

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